const int N_steps = 50;
float M1_steps[50] = {-1017.0,-1989.0,-2909.0,-3773.0,-4573.0,-5302.0,-5953.0,-6517.0,-6086.0,-4987.0,-3680.0,-2198.0,-570.0,1177.0,3023.0,4951.0,5997.0,5194.0,4440.0,3738.0,3092.0,2505.0,1982.0,1525.0,1138.0,1982.0,3092.0,4440.0,5997.0,7734.0,9625.0,11648.0,13783.0,13783.0,12703.0,11648.0,10622.0,9625.0,8662.0,7734.0,6844.0,6007.0,5213.0,4430.0,3658.0,2898.0,2151.0,1418.0,701.0,0.0};
float M2_steps[50] = {-1017.0,-1989.0,-2909.0,-3773.0,-4573.0,-5302.0,-5953.0,-6517.0,-6086.0,-4987.0,-3680.0,-2198.0,-570.0,1177.0,3023.0,4951.0,6557.0,7433.0,8348.0,9300.0,10286.0,11303.0,12349.0,13421.0,14517.0,12349.0,10286.0,8348.0,6557.0,4937.0,3516.0,2324.0,1388.0,1388.0,1822.0,2324.0,2890.0,3516.0,4200.0,4937.0,5724.0,6007.0,5213.0,4430.0,3658.0,2898.0,2151.0,1418.0,701.0,0.0};
float M3_steps[50] = {1057.0,2151.0,3276.0,4430.0,5609.0,6811.0,8034.0,9275.0,8308.0,6274.0,4300.0,2398.0,583.0,-1127.0,-2709.0,-4137.0,-5411.0,-6665.0,-7889.0,-9075.0,-10215.0,-11300.0,-12318.0,-13251.0,-14083.0,-12318.0,-10215.0,-7889.0,-5411.0,-2829.0,-174.0,2535.0,5284.0,5284.0,3905.0,2535.0,1175.0,-174.0,-1510.0,-2829.0,-4131.0,-4824.0,-4314.0,-3773.0,-3204.0,-2608.0,-1989.0,-1346.0,-683.0,0.0};
float M4_steps[50] = {1057.0,2151.0,3276.0,4430.0,5609.0,6811.0,8034.0,9275.0,8308.0,6274.0,4300.0,2398.0,583.0,-1127.0,-2709.0,-4137.0,-4560.0,-3266.0,-1951.0,-621.0,724.0,2080.0,3447.0,4824.0,6208.0,3447.0,724.0,-1951.0,-4560.0,-7077.0,-9461.0,-11648.0,-13541.0,-13541.0,-12639.0,-11648.0,-10584.0,-9461.0,-8289.0,-7077.0,-5832.0,-4824.0,-4314.0,-3773.0,-3204.0,-2608.0,-1989.0,-1346.0,-683.0,0.0};

float M1_V_steps[50] = {2825.0,2700.0,2556.0,2400.0,2222.0,2025.0,1808.0,1567.0,1539.0,1832.0,2178.0,2470.0,2713.0,2912.0,3077.0,3213.0,2505.0,2231.0,2094.0,1950.0,1794.0,1631.0,1453.0,1269.0,1074.0,1172.0,1542.0,1872.0,2162.0,2413.0,2626.0,2810.0,2965.0,0.0,3000.0,2931.0,2850.0,2769.0,2675.0,2578.0,2472.0,3309.0,3308.0,3263.0,3217.0,3167.0,3112.0,3054.0,2988.0,2921.0};
float M2_V_steps[50] = {2825.0,2700.0,2556.0,2400.0,2222.0,2025.0,1808.0,1567.0,1539.0,1832.0,2178.0,2470.0,2713.0,2912.0,3077.0,3213.0,3846.0,2433.0,2542.0,2644.0,2739.0,2825.0,2906.0,2978.0,3042.0,3011.0,2865.0,2692.0,2487.0,2250.0,1974.0,1656.0,1300.0,0.0,1206.0,1394.0,1572.0,1739.0,1900.0,2047.0,2186.0,1119.0,3308.0,3263.0,3217.0,3167.0,3112.0,3054.0,2988.0,2921.0};
float M3_V_steps[50] = {2936.0,3039.0,3125.0,3206.0,3275.0,3339.0,3397.0,3447.0,3454.0,3390.0,3290.0,3170.0,3025.0,2850.0,2637.0,2380.0,3051.0,3483.0,3400.0,3294.0,3167.0,3014.0,2828.0,2592.0,2309.0,2451.0,2921.0,3231.0,3442.0,3586.0,3687.0,3763.0,3818.0,0.0,3831.0,3806.0,3778.0,3747.0,3711.0,3664.0,3617.0,2739.0,2125.0,2254.0,2371.0,2483.0,2579.0,2679.0,2763.0,2846.0};
float M4_V_steps[50] = {2936.0,3039.0,3125.0,3206.0,3275.0,3339.0,3397.0,3447.0,3454.0,3390.0,3290.0,3170.0,3025.0,2850.0,2637.0,2380.0,1013.0,3594.0,3653.0,3694.0,3736.0,3767.0,3797.0,3825.0,3841.0,3835.0,3782.0,3715.0,3624.0,3496.0,3311.0,3038.0,2629.0,0.0,2506.0,2753.0,2956.0,3119.0,3256.0,3367.0,3458.0,3984.0,2125.0,2254.0,2371.0,2483.0,2579.0,2679.0,2763.0,2846.0};

float Step_times[50] = {0.36,0.72,1.08,1.44,1.8,2.16,2.52,2.88,3.16,3.76,4.36,4.96,5.56,6.16,6.76,7.36,7.78,8.14,8.5,8.86,9.22,9.58,9.94,10.3,10.66,11.38,12.1,12.82,13.54,14.26,14.98,15.7,16.42,16.63,16.99,17.35,17.71,18.07,18.43,18.79,19.15,19.4,19.64,19.88,20.12,20.36,20.6,20.84,21.08,21.32};


/*
X1 = np.array([-1017.0,-1989.0,-2909.0,-3773.0,-4573.0,-5302.0,-5953.0,-6517.0,-6086.0,-4987.0,-3680.0,-2198.0,-570.0,1177.0,3023.0,4951.0,5997.0,5194.0,4440.0,3738.0,3092.0,2505.0,1982.0,1525.0,1138.0,1982.0,3092.0,4440.0,5997.0,7734.0,9625.0,11648.0,13783.0,13783.0,12703.0,11648.0,10622.0,9625.0,8662.0,7734.0,6844.0,6007.0,5213.0,4430.0,3658.0,2898.0,2151.0,1418.0,701.0,0.0])
X2 = np.array([-1017.0,-1989.0,-2909.0,-3773.0,-4573.0,-5302.0,-5953.0,-6517.0,-6086.0,-4987.0,-3680.0,-2198.0,-570.0,1177.0,3023.0,4951.0,6557.0,7433.0,8348.0,9300.0,10286.0,11303.0,12349.0,13421.0,14517.0,12349.0,10286.0,8348.0,6557.0,4937.0,3516.0,2324.0,1388.0,1388.0,1822.0,2324.0,2890.0,3516.0,4200.0,4937.0,5724.0,6007.0,5213.0,4430.0,3658.0,2898.0,2151.0,1418.0,701.0,0.0])
X3 = np.array([1057.0,2151.0,3276.0,4430.0,5609.0,6811.0,8034.0,9275.0,8308.0,6274.0,4300.0,2398.0,583.0,-1127.0,-2709.0,-4137.0,-5411.0,-6665.0,-7889.0,-9075.0,-10215.0,-11300.0,-12318.0,-13251.0,-14083.0,-12318.0,-10215.0,-7889.0,-5411.0,-2829.0,-174.0,2535.0,5284.0,5284.0,3905.0,2535.0,1175.0,-174.0,-1510.0,-2829.0,-4131.0,-4824.0,-4314.0,-3773.0,-3204.0,-2608.0,-1989.0,-1346.0,-683.0,0.0])
X4 = np.array([1057.0,2151.0,3276.0,4430.0,5609.0,6811.0,8034.0,9275.0,8308.0,6274.0,4300.0,2398.0,583.0,-1127.0,-2709.0,-4137.0,-4560.0,-3266.0,-1951.0,-621.0,724.0,2080.0,3447.0,4824.0,6208.0,3447.0,724.0,-1951.0,-4560.0,-7077.0,-9461.0,-11648.0,-13541.0,-13541.0,-12639.0,-11648.0,-10584.0,-9461.0,-8289.0,-7077.0,-5832.0,-4824.0,-4314.0,-3773.0,-3204.0,-2608.0,-1989.0,-1346.0,-683.0,0.0])

V1 = np.array([2825.0,2700.0,2556.0,2400.0,2222.0,2025.0,1808.0,1567.0,1539.0,1832.0,2178.0,2470.0,2713.0,2912.0,3077.0,3213.0,2505.0,2231.0,2094.0,1950.0,1794.0,1631.0,1453.0,1269.0,1074.0,1172.0,1542.0,1872.0,2162.0,2413.0,2626.0,2810.0,2965.0,0.0,3000.0,2931.0,2850.0,2769.0,2675.0,2578.0,2472.0,3309.0,3308.0,3263.0,3217.0,3167.0,3112.0,3054.0,2988.0,2921.0])
V2 = np.array([2825.0,2700.0,2556.0,2400.0,2222.0,2025.0,1808.0,1567.0,1539.0,1832.0,2178.0,2470.0,2713.0,2912.0,3077.0,3213.0,3846.0,2433.0,2542.0,2644.0,2739.0,2825.0,2906.0,2978.0,3042.0,3011.0,2865.0,2692.0,2487.0,2250.0,1974.0,1656.0,1300.0,0.0,1206.0,1394.0,1572.0,1739.0,1900.0,2047.0,2186.0,1119.0,3308.0,3263.0,3217.0,3167.0,3112.0,3054.0,2988.0,2921.0])
V3 = np.array([2936.0,3039.0,3125.0,3206.0,3275.0,3339.0,3397.0,3447.0,3454.0,3390.0,3290.0,3170.0,3025.0,2850.0,2637.0,2380.0,3051.0,3483.0,3400.0,3294.0,3167.0,3014.0,2828.0,2592.0,2309.0,2451.0,2921.0,3231.0,3442.0,3586.0,3687.0,3763.0,3818.0,0.0,3831.0,3806.0,3778.0,3747.0,3711.0,3664.0,3617.0,2739.0,2125.0,2254.0,2371.0,2483.0,2579.0,2679.0,2763.0,2846.0])
V4 = np.array([2936.0,3039.0,3125.0,3206.0,3275.0,3339.0,3397.0,3447.0,3454.0,3390.0,3290.0,3170.0,3025.0,2850.0,2637.0,2380.0,1013.0,3594.0,3653.0,3694.0,3736.0,3767.0,3797.0,3825.0,3841.0,3835.0,3782.0,3715.0,3624.0,3496.0,3311.0,3038.0,2629.0,0.0,2506.0,2753.0,2956.0,3119.0,3256.0,3367.0,3458.0,3984.0,2125.0,2254.0,2371.0,2483.0,2579.0,2679.0,2763.0,2846.0])
*/